JP2022088098A - Self-driving system, self-driving method, and self-driving program - Google Patents

Abstract

To provide a self-driving system, a self-driving method, and a self-driving program capable of preventing an increase in cost while securing safety of a work vehicle.SOLUTION: A route acquisition processing section 215 acquires a driving route of a work vehicle 10. A notification processing section 217 notifies an operator of a request for determining whether or not to start self-driving of the work vehicle 10 when the driving route acquired by the route acquisition processing section 215 includes a first driving route in a direction different from a direction of a detection area K0 of an obstacle sensor 18 which is installed on the work vehicle 10 and detects an obstacle around the work vehicle 10.SELECTED DRAWING: Figure 1

Description

The present invention relates to an automatic traveling system for automatically traveling a work vehicle, an automatic traveling method, and an automatic traveling program.

The work vehicle is equipped with obstacle sensors such as infrared sensors and ultrasonic sensors, and detects obstacles in the detection area during automatic driving. The detection area is set in a fan shape, for example, within a predetermined distance (for example, 10 m) in front of the obstacle sensor in a plan view. In the conventional system, for example, when an obstacle enters the detection area during the automatic traveling of the work vehicle, the operator is notified, and collision avoidance control or the like for stopping the work vehicle is performed (for example, Patent Document 1). reference).

International Publication No. 2015/147149

By the way, obstacle sensors can be added as an option, and can be installed on all sides of the work vehicle so that blind spots do not occur. However, a blind spot may occur depending on the work content. For example, when the work machine is used in a state of being offset to one side from the work vehicle to the left or right as in mowing work, a blind spot is generated in the offset direction. In order to eliminate the blind spot in the offset direction, it is necessary to install an obstacle sensor on the work equipment as well. In this way, if the obstacle sensors are installed so as to be able to handle all the work, the number of obstacle sensors increases and the cost increases. On the other hand, if the number of obstacle sensors is reduced, the blind spots are increased and the safety is lowered.

An object of the present invention is to provide an automated driving system, an automated driving method, and an automated driving program capable of preventing an increase in cost while ensuring the safety of a work vehicle.

The automatic traveling system according to the present invention includes a route acquisition processing unit and a notification processing unit for notifying. The route acquisition processing unit acquires the travel route of the work vehicle. The notification processing unit is installed in the work vehicle on the travel path acquired by the route acquisition processing unit, and is in a direction different from the direction of the detection area of the detection unit that detects obstacles around the work vehicle. When the first traveling route is included, an inquiry as to whether or not to start the automatic traveling of the work vehicle is notified.

In the automatic traveling method according to the present invention, one or a plurality of processors acquire a traveling route of a work vehicle, and the traveling route is installed in the working vehicle to detect obstacles around the working vehicle. This is a method of notifying an inquiry as to whether or not to start automatic traveling of the work vehicle when a first traveling route in a direction different from the direction of the detection area of the detection unit is included.

The automatic traveling program according to the present invention acquires a traveling route of a working vehicle and a direction of a detection area of a detection unit installed on the working vehicle and detecting an obstacle around the working vehicle on the traveling route. This is a program for causing one or a plurality of processors to notify an inquiry as to whether or not to start automatic traveling of the work vehicle when a first traveling route in a direction different from the above is included.

According to the present invention, it is possible to provide an automatic traveling system, an automatic traveling method, and an automatic traveling program capable of preventing an increase in cost while ensuring the safety of a work vehicle.

FIG. 1 is a block diagram showing a configuration of an automated driving system according to an embodiment of the present invention. FIG. 2 is an external view showing an example of a work vehicle according to an embodiment of the present invention. FIG. 3 is a diagram showing an example of a traveling path of a work vehicle according to an embodiment of the present invention. FIG. 4A is a diagram showing the positions of obstacle sensors installed in the work vehicle according to the embodiment of the present invention. FIG. 4B is a diagram showing the positions of cameras installed in the work vehicle according to the embodiment of the present invention. FIG. 5 is a diagram showing an example of work vehicle information used in the automatic traveling system according to the embodiment of the present invention. FIG. 6 is a diagram showing an example of travel route information used in the automatic travel system according to the embodiment of the present invention. FIG. 7 is a diagram showing an example of travelability information used in the automatic traveling system according to the embodiment of the present invention. FIG. 8A is a diagram showing an example of a route selection screen displayed on the operation terminal according to the embodiment of the present invention. FIG. 8B is a diagram showing an example of a route selection screen displayed on the operation terminal according to the embodiment of the present invention. FIG. 9A is a diagram showing an example of a selection screen displayed on the operation terminal according to the embodiment of the present invention. FIG. 9B is a diagram showing an example of a selection screen displayed on the operation terminal according to the embodiment of the present invention. FIG. 10A is a diagram showing an example of a traveling state screen displayed on the operation terminal according to the embodiment of the present invention. FIG. 10B is a diagram showing an example of a traveling state screen displayed on the operation terminal according to the embodiment of the present invention. FIG. 10C is a diagram showing an example of a traveling state screen displayed on the operation terminal according to the embodiment of the present invention. FIG. 11 is a flowchart showing an example of a procedure of automatic driving processing executed by the automatic driving system according to the embodiment of the present invention.

The following embodiments are examples that embody the present invention and do not limit the technical scope of the present invention.

As shown in FIG. 1, the automatic traveling system 1 according to the embodiment of the present invention includes a work vehicle 10 and an operation terminal 20. The work vehicle 10 and the operation terminal 20 can communicate with each other via the communication network N1. For example, the work vehicle 10 and the operation terminal 20 can communicate via a mobile phone line network, a packet line network, or a wireless LAN.

In the present embodiment, the case where the work vehicle 10 is a tractor will be described as an example. As another embodiment, the work vehicle 10 may be a rice transplanter, a combine, a construction machine, a snowplow, or the like. The work vehicle 10 is a so-called robot tractor having a configuration capable of automatically traveling (autonomous traveling) along a preset travel path R in a field F (see FIG. 3). For example, the work vehicle 10 can automatically travel along the travel path R generated in advance for the field F based on the position information of the current position of the work vehicle 10 calculated by the positioning device 17. ..

For example, the work vehicle 10 reciprocates in parallel from the work start position S to the work end position G in the work area of the field F shown in FIG. The outer peripheral side of the field F is, for example, a headland area, and the work vehicle 10 makes a turning run. The travel route R is not limited to the route shown in FIG. 3, and is appropriately set according to the work content.

[Working vehicle 10]
As shown in FIGS. 1 and 2, the work vehicle 10 includes a vehicle control device 11, a storage unit 12, a traveling device 13, a working machine 14, a camera 15, a communication unit 16, a positioning device 17, an obstacle sensor 18, and detection. A processing device 19 and the like are provided. The vehicle control device 11 is electrically connected to a storage unit 12, a traveling device 13, a working machine 14, a positioning device 17, and the like. The vehicle control device 11 and the positioning device 17 may be capable of wireless communication. Further, the camera 15 and the obstacle sensor 18 are electrically connected to the detection processing device 19.

The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various types of information. The storage unit 12 stores a control program such as an automatic driving program for causing the vehicle control device 11 to execute the automatic driving process (see FIG. 11) described later. For example, the automatic traveling program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, is read by a predetermined reading device (not shown), and is stored in the storage unit 12. The automatic traveling program may be downloaded from the server (not shown) to the work vehicle 10 via the communication network N1 and stored in the storage unit 12. Further, the storage unit 12 stores data of the travel path R generated by the operation terminal 20 and the like.

The traveling device 13 is a drive unit for traveling the work vehicle 10. As shown in FIG. 2, the traveling device 13 includes an engine 131, front wheels 132, rear wheels 133, a transmission 134, a front axle 135, a rear axle 136, a handle 137, and the like. The front wheels 132 and the rear wheels 133 are provided on the left and right sides of the work vehicle 10, respectively. Further, the traveling device 13 is not limited to the wheel type including the front wheels 132 and the rear wheels 133, and may be a crawler type including crawlers provided on the left and right sides of the work vehicle 10.

The engine 131 is a drive source such as a diesel engine or a gasoline engine that is driven by using fuel supplied to a fuel tank (not shown). The traveling device 13 may include an electric motor as a drive source together with the engine 131 or in place of the engine 131. A generator (not shown) is connected to the engine 131, and electric power is supplied from the generator to electric parts such as a vehicle control device 11 provided on the work vehicle 10 and a battery. The battery is charged by the electric power supplied from the generator. The electric parts such as the vehicle control device 11 and the positioning device 17 provided in the work vehicle 10 can be driven by the electric power supplied from the battery even after the engine 131 is stopped.

The driving force of the engine 131 is transmitted to the front wheels 132 via the transmission 134 and the front axle 135, and is transmitted to the rear wheels 133 via the transmission 134 and the rear axle 136. Further, the driving force of the engine 131 is also transmitted to the working machine 14 via the PTO shaft (not shown). When the work vehicle 10 automatically travels, the traveling device 13 performs the traveling operation according to the command of the vehicle control device 11.

The working machine 14 is, for example, a mower, a cultivator, a plow, a fertilizer applicator, a sowing machine, or the like, and can be attached to and detached from the working vehicle 10. As a result, the work vehicle 10 can perform various operations using each of the work machines 14. In the present embodiment, the case where the working machine 14 is a mower will be described as an example.

For example, the work machine 14 is mounted so as to be offset to the left or right side with respect to the work vehicle 10. For example, the work vehicle 10 is offset to one of the left and right sides, and a directly mounted work machine 14 is attached to the work vehicle 10 to run in the field to perform mowing work and the like. The work machine 14 is not limited to the directly mounted work machine (see FIG. 2) fixed to the work vehicle 10, and may be a tow type work machine towed by the work vehicle 10.

The obstacle sensor 18 is a sensor that detects an obstacle in a predetermined detection area K0 by using infrared rays, ultrasonic waves, or the like. For example, the obstacle sensor 18 may be a rider sensor (distance sensor) capable of measuring the distance to the object to be measured (obstacle) in three dimensions using a laser, or the object to be measured using ultrasonic waves. It may be a sonar sensor having a plurality of sonars capable of measuring the distance to. The obstacle sensor 18 is installed at the front of the machine body of the work vehicle 10 (see FIGS. 2 and 4A), and detects an obstacle in front of the work vehicle 10.

Further, the obstacle sensor 18 is configured to be able to detect an obstacle in a predetermined detection area K0 set in advance. For example, as shown in FIG. 4A, the obstacle sensor 18 is configured to be able to detect an obstacle in the detection area K0 having a width of about 10 m in front of the work vehicle 10 and a width of about 4 m. The obstacle sensor 18 detects an object, a person, or the like that has entered the detection area K0. The obstacle sensor 18 transmits the measurement information to the detection processing device 19.

For example, the obstacle sensor 18 is installed only in the front part of the work vehicle 10. As a result, the cost of the work vehicle 10 can be suppressed as compared with the case where a plurality of obstacle sensors 18 are installed. The obstacle sensor 18 can be installed at a place other than the front part of the work vehicle 10. For example, the obstacle sensor 18 can be installed in the rear part, the right side part, the left side part, the work machine 14, and the like of the work vehicle 10. The user (operator) can additionally install the obstacle sensor 18 according to the work content. Further, the operator who owns a plurality of work vehicles 10 can install the obstacle sensor 18 at a different position for each work vehicle 10 according to the work content. The obstacle sensor 18 is an example of the detection unit of the present invention.

The detection processing device 19 can communicate with the obstacle sensor 18 by electrically connecting the obstacle sensor 18 to the work vehicle 10. When the detection processing device 19 becomes able to communicate with the obstacle sensor 18, the detection processing device 19 acquires the number of obstacle sensors 18 and the identification information (device information) of each obstacle sensor 18.

The camera 15 is a digital camera that captures an image of a subject and outputs it as digital image data. The camera 15 continuously captures a subject at a predetermined frame rate, generates a frame image having a predetermined resolution, and sequentially transmits the frame image to the detection processing device 19. The camera 15 is an example of the monitoring unit and the imaging unit of the present invention. The monitoring unit of the present invention is not limited to the camera 15, and may be a sensor having a function different from that of the obstacle sensor 18 (for example, a sensor having a lower detection accuracy than the obstacle sensor 18).

In this embodiment, five cameras 15 are installed at different locations on the work vehicle 10. Specifically, as shown in FIG. 4B, a camera 15F (hereinafter also referred to as “camera 1”) is installed at the front of the work vehicle 10, and a camera 15B (hereinafter also referred to as “camera 2”) is installed at the rear of the work vehicle 10. A camera 15R (hereinafter also referred to as “camera 3”) is installed on the right side of the work vehicle 10, and a camera 15L (hereinafter also referred to as “camera 4”) is installed on the left side of the work vehicle 10. The camera 15C (hereinafter, also referred to as “camera 5”) is installed on the right front side of the working machine 14. The camera 15 may be installed on the work vehicle 10 with, for example, double-sided tape.

Further, each camera 15 is set with a predetermined imaging range (detection area) in which imaging is possible. For example, the camera 15F images the image pickup area K1 in front of the work vehicle 10, the camera 15B images the image pickup area K2 behind the work vehicle 10, and the camera 15R images the image pickup area K3 on the right side of the work vehicle 10. The camera 15L images the image pickup area K4 on the left side of the work vehicle 10, and the camera 15C images the image pickup area K5 on the right front side of the work machine 14. Each camera 15 captures each imaging area at a predetermined frame rate, and sequentially transmits the captured images to the detection processing device 19. The detection processing device 19 transmits the captured image and the detection result (determination result) described later to the vehicle control device 11 and the operation terminal 20.

The detection processing device 19 can communicate with the camera 15 by electrically connecting the camera 15 to the work vehicle 10. When the detection processing device 19 becomes able to communicate with the cameras 15, the detection processing device 19 acquires the number of cameras 15 and the identification information (device information) of each camera 15. Further, the detection processing device 19 outputs the acquired number information and identification information of the cameras 15 to the vehicle control device 11, and the vehicle control device 11 outputs the number information and identification information to the operation terminal 20. The operator can add a camera 15 or change the installation position.

The steering wheel 137 is an operation unit operated by an operator or a vehicle control device 11. For example, in the traveling device 13, the angle of the front wheels 132 is changed by a hydraulic power steering mechanism (not shown) or the like in response to the operation of the steering wheel 137 by the vehicle control device 11, and the traveling direction of the work vehicle 10 is changed.

In addition to the steering wheel 137, the traveling device 13 includes a shift lever (not shown), an accelerator, a brake, and the like operated by the vehicle control device 11. Then, in the traveling device 13, the gear of the transmission 134 is switched to the forward gear, the back gear, or the like according to the operation of the shift lever by the vehicle control device 11, and the traveling mode of the work vehicle 10 is switched to the forward gear or the reverse gear. .. Further, the vehicle control device 11 operates the accelerator to control the rotation speed of the engine 131. Further, the vehicle control device 11 operates the brake and uses an electromagnetic brake to brake the rotation of the front wheels 132 and the rear wheels 133.

The positioning device 17 is a communication device including a positioning control unit 171, a storage unit 172, a communication unit 173, a positioning antenna 174, and the like. For example, as shown in FIG. 2, the positioning device 17 is provided above the cabin 138 on which the operator is boarded. Further, the installation location of the positioning device 17 is not limited to the cabin 138. Further, the positioning control unit 171, the storage unit 172, the communication unit 173, and the positioning antenna 174 of the positioning device 17 may be dispersedly arranged at different positions in the work vehicle 10. As described above, the battery is connected to the positioning device 17, and the positioning device 17 can operate even when the engine 131 is stopped. Further, as the positioning device 17, for example, a mobile phone terminal, a smartphone, a tablet terminal, or the like may be substituted.

The positioning control unit 171 is a computer system including one or a plurality of processors and a storage memory such as a non-volatile memory and a RAM. The storage unit 172 is a program for causing the positioning control unit 171 to execute the positioning process, and a non-volatile memory for storing data such as positioning information and movement information. For example, the program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, is read by a predetermined reading device (not shown), and is stored in the storage unit 172. The program may be downloaded from the server (not shown) to the positioning device 17 via the communication network N1 and stored in the storage unit 172.

The communication unit 173 connects the positioning device 17 to the communication network N1 by wire or wirelessly, and executes data communication according to a predetermined communication protocol with an external device such as a base station server via the communication network N1. Communication interface.

The positioning antenna 174 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

The positioning control unit 171 calculates the current position of the work vehicle 10 based on the GNSS signal received from the satellite by the positioning antenna 174. For example, when the work vehicle 10 automatically travels in the field F and the positioning antenna 174 receives radio waves (transmission time, orbit information, etc.) transmitted from each of the plurality of satellites, the positioning control unit 171 performs positioning. The distance between the antenna 174 and each satellite is calculated, and the current position (latitude and longitude) of the work vehicle 10 is calculated based on the calculated distance. Further, the positioning control unit 171 calculates the current position of the work vehicle 10 by using the correction information corresponding to the base station (reference station) close to the work vehicle 10, and the real-time kinematic method (RTK-GPS positioning method (RTK method)). )) Positioning may be performed. In this way, the work vehicle 10 automatically travels by using the positioning information by the RTK method.

The vehicle control device 11 and the detection processing device 19 have control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processes. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS for causing the CPU to execute various arithmetic processes are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various types of information, and is used as a temporary storage memory (working area) for various processes executed by the CPU. Then, the vehicle control device 11 and the detection processing device 19 control the work vehicle 10 by executing various control programs stored in advance in the ROM or the storage unit 12 on the CPU.

The detection processing device 19 acquires measurement information from the obstacle sensor 18 and determines whether or not an obstacle is included in the detection area K0 based on the measurement information. Specifically, as shown in FIG. 1, the detection processing apparatus 19 includes various processing units such as an acquisition processing unit 111 and a detection processing unit 112. The detection processing device 19 functions as the various processing units by executing various processing according to the automatic traveling program on the CPU. Further, a part or all of the processing unit may be composed of an electronic circuit. The automatic traveling program may be a program for making a plurality of processors function as the processing unit.

The acquisition processing unit 111 acquires measurement information from one or more obstacle sensors 18. Specifically, the acquisition processing unit 111 acquires the measurement information of the detection area K0 from the obstacle sensor 18 installed at the front of the work vehicle 10. For example, when an obstacle (person) enters the detection area K0, the acquisition processing unit 111 acquires the measurement distance measured by the obstacle sensor 18.

Further, the acquisition processing unit 111 acquires captured images from one or a plurality of cameras 15. For example, the acquisition processing unit 111 frames the captured images of the imaging areas K1 to K5 from each of the five cameras 15F, 15B, 15R, 15L, and 15C installed in the working vehicle 10 and the working machine 14. Get every time. The acquisition processing unit 111 stores the acquired image in the storage unit 12 together with the acquisition time. Further, the acquisition processing unit 111 outputs the acquired image data of the captured image to the operation terminal 20.

The detection processing unit 112 detects an obstacle based on the measurement information acquired by the acquisition processing unit 111. Specifically, the detection processing unit 112 determines whether or not an obstacle is included in the detection area K0 based on the measurement information. The detection processing unit 112 outputs the detection result to the operation terminal 20.

The vehicle control device 11 controls the operation of the work vehicle 10 in response to various user operations on the work vehicle 10. Further, the vehicle control device 11 executes the automatic traveling process of the work vehicle 10 based on the current position of the work vehicle 10 calculated by the positioning device 17 and the travel path R generated in advance.

As shown in FIG. 1, the vehicle control device 11 includes various processing units such as a traveling processing unit 113. The vehicle control device 11 functions as the various processing units by executing various processes according to the automatic traveling program on the CPU. Further, a part or all of the processing unit may be composed of an electronic circuit. The automatic traveling program may be a program for making a plurality of processors function as the processing unit.

The travel processing unit 113 controls the travel of the work vehicle 10. Specifically, the travel processing unit 113 starts the automatic travel of the work vehicle 10 when the work start instruction is acquired from the operation terminal 20. For example, when the operator presses the work start button on the operation screen of the operation terminal 20, the operation terminal 20 outputs a work start instruction to the work vehicle 10. When the work start instruction is acquired from the operation terminal 20, the travel processing unit 113 starts the automatic travel of the work vehicle 10. As a result, the work vehicle 10 starts automatic traveling according to the travel path R, and starts the work by the work machine 14. The travel path R on which the work vehicle 10 travels is generated by, for example, the operation terminal 20. The work vehicle 10 acquires a travel route R from the operation terminal 20 and automatically travels in the field F according to the travel route R.

Further, the traveling processing unit 113 stops the automatic traveling of the work vehicle 10 when the traveling stop instruction is acquired from the operation terminal 20. For example, when the operator presses the travel stop button on the operation screen of the operation terminal 20, the operation terminal 20 outputs a travel stop instruction to the work vehicle 10.

Further, the traveling processing unit 113 stops the automatic traveling of the work vehicle 10 when the detection processing unit 112 detects an obstacle. For example, when the detection processing unit 112 detects an obstacle within a range of 3 m to 8 m in front of the work vehicle 10, the travel processing unit 113 decelerates the work vehicle 10. Further, when the detection processing unit 112 detects an obstacle within a range of up to 3 m in front of the work vehicle 10, the travel processing unit 113 stops the work vehicle 10 (emergency stop).

[Operation terminal 20]
As shown in FIG. 1, the operation terminal 20 is an information processing device including an operation control unit 21, a storage unit 22, an operation display unit 23, a communication unit 24, and the like. The operation terminal 20 may be composed of a mobile terminal such as a tablet terminal or a smartphone.

The communication unit 24 connects the operation terminal 20 to the communication network N1 by wire or wirelessly, and data communication according to a predetermined communication protocol with one or more external devices such as a work vehicle 10 via the communication network N1. Is a communication interface for executing.

The operation display unit 23 is a user interface including a display unit such as a liquid crystal display or an organic EL display that displays various information, and an operation unit such as a touch panel, a mouse, or a keyboard that accepts operations. On the operation screen displayed on the display unit, the operator can operate the operation unit to register various information (work vehicle information, field information, work information, etc., which will be described later). Further, the operator can operate the operation unit to give a work start instruction, a running stop instruction, and the like to the work vehicle 10. Further, the operator can grasp the traveling state of the working vehicle 10 that automatically travels in the field F according to the traveling route R from the traveling locus displayed on the operation terminal 20 at a place away from the working vehicle 10. ..

The storage unit 22 is a non-volatile storage unit such as an HDD or SSD that stores various types of information. The storage unit 22 stores a control program such as an automatic driving program for causing the operation control unit 21 to execute the automatic driving process (see FIG. 11) described later. For example, the automatic traveling program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, is read by a predetermined reading device (not shown), and is stored in the storage unit 22. The automatic traveling program may be downloaded from the server (not shown) to the operation terminal 20 via the communication network N1 and stored in the storage unit 22.

Further, the storage unit 22 has work vehicle information D1 which is information about the work vehicle 10, travel route information D2 which is information about the travel route, and information indicating whether or not the work vehicle 10 can travel on the travel route. Data such as travelability information D3 is stored.

FIG. 5 is an example of the work vehicle information D1. As shown in FIG. 5, the work vehicle information D1 includes information such as a vehicle number, a model, an installation position of the obstacle sensor 18, and a travelable route for each work vehicle 10. The vehicle number is identification information of the work vehicle 10. The model is the model of the work vehicle 10. The installation position of the obstacle sensor 18 is the installation position of the obstacle sensor 18 in the work vehicle 10.

The travelable route is a travel route on which the work vehicle 10 can travel, which is set according to the installation position of the obstacle sensor 18. For example, when the obstacle sensor 18 is installed only in the front part of the work vehicle 10 (see FIG. 4A), the work vehicle 10 can detect an obstacle when traveling forward, but when traveling backward and when traveling backward. Obstacles in the traveling direction cannot be detected when traveling inward. Therefore, for example, for the work vehicle T4 in which the obstacle sensor 18 is installed only in the front part of the work vehicle 10, "impossible" is registered in the reverse route and the inner loop route. Further, for example, for the work vehicle T2 in which the obstacle sensor 18 is installed in the front portion and the rear portion of the work vehicle 10, "possible" is registered in the reverse route and "impossible" is registered in the inner loop route.

The storage unit 22 may store the work vehicle information D1 relating to one work vehicle 10 or the work vehicle information D1 relating to a plurality of work vehicles 10. For example, when a specific operator owns a plurality of work vehicles 10, the work vehicle information D1 for each work vehicle 10 is stored in the storage unit 22.

FIG. 6 is an example of the travel route information D2. As shown in FIG. 6, the travel route information D2 includes information such as a route name, a field name, an address, a field area, a working time, and a route content for each travel route. The route name is a route name of the traveling route R generated by the operation terminal 20. The field name is the name of the work target field for which the traveling route is set. The address is the address of the field, and the field area is the area of the field. The working time is the time required for working in the field by the working vehicle 10. The route content is information indicating whether or not the traveling route includes a reverse route and whether or not the traveling route includes an inner loop route. When the travel route includes a reverse route, "Yes" is registered in "Reverse" of the route content, and when the travel route does not include a reverse route, "None" is registered in "Reverse" of the route content. be registered. Further, when the traveling route includes an inner loop route, "Yes" is registered in the "inner loop" of the route content, and when the traveling route does not include the inner loop route, "none" is registered in the "inner loop" of the route content. Is registered.

The storage unit 22 may store the travel route information D2 relating to one travel route, or may store the travel route information D2 relating to a plurality of travel routes. For example, when a specific operator generates a plurality of travel routes for one or a plurality of fields owned by the operator, the travel route information D2 for each travel route is stored in the storage unit 22. In addition, one traveling route may be set for one field, or a plurality of traveling routes may be set.

FIG. 7 is an example of the travelability information D3. As shown in FIG. 7, the travelability information D3 indicates whether or not the work vehicle 10 can travel on each travel route registered in the travel route information D2 for each work vehicle 10 registered in the work vehicle information D1. The information to be shown is registered. For example, in the work vehicle T4, since the reverse route and the inner loop route are set to "impossible" (see FIG. 5), the travel routes R1 and R2 including at least one of "reverse" and "inner loop" are "impossible". Is registered, and "OK" is registered for the traveling route R3 that does not include both "backward" and "inner loop". Further, for example, in the work vehicle T2, since the reverse route is set to "possible" and the inner loop route is set to "impossible" (see FIG. 5), "impossible" is registered for the traveling route R2 including "inner loop". Then, "OK" is registered for the traveling routes R1 and R3 that do not include the "inner loop".

As another embodiment, a part or all of the information such as the work vehicle information D1, the travel route information D2, and the travelability information D3 may be stored in the server accessible from the operation terminal 20. The operator may perform an operation of registering the work vehicle information D1, the travel route information D2, and the travelability information D3 on the server (for example, a personal computer). In this case, the operation control unit 21 may acquire the information from the server and execute each process such as the automatic driving process (see FIG. 11) described later.

The operation control unit 21 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processes. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS for causing the CPU to execute various arithmetic processes are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various types of information, and is used as a temporary storage memory (working area) for various processes executed by the CPU. Then, the operation control unit 21 controls the operation terminal 20 by executing various control programs stored in advance in the ROM or the storage unit 22 on the CPU.

As shown in FIG. 1, the operation control unit 21 includes a vehicle setting processing unit 211, a field setting processing unit 212, a work setting processing unit 213, a route generation processing unit 214, a route acquisition processing unit 215, a determination processing unit 216, and a notification processing. It includes various processing units such as unit 217, output processing unit 218, and display processing unit 219. The operation control unit 21 functions as the various processing units by executing various processes according to the control program on the CPU. Further, a part or all of the processing unit may be composed of an electronic circuit. The control program may be a program for causing a plurality of processors to function as the processing unit.

The vehicle setting processing unit 211 sets information about the work vehicle 10 (hereinafter referred to as work vehicle information). The vehicle setting processing unit 211 refers to the model of the work vehicle 10, the position where the positioning antenna 174 is attached in the work vehicle 10, the type of the work machine 14, the size and shape of the work machine 14, and the work vehicle 10 of the work machine 14. Information such as the position, the working vehicle speed and engine rotation speed of the work vehicle 10, the turning vehicle speed and engine rotation speed of the work vehicle 10 is set by the operator performing an operation registered in the operation terminal 20. ..

The field setting processing unit 212 sets information about the field F (hereinafter referred to as field information). The field setting processing unit 212 registers information such as the position and shape of the field F, the work start position S for starting the work, the work end position G for ending the work (see FIG. 3), the work direction, and the like on the operation terminal 20. The information is set by performing the operation.

The working direction means a direction in which the work vehicle 10 is driven while working with the work machine 14 in the work area which is the area excluding the non-work area such as the headland and the non-cultivated land from the field F.

For the information on the position and shape of the field F, for example, the operator gets on the work vehicle 10 and operates so as to make one round around the outer circumference of the field F, and records the transition of the position information of the positioning antenna 174 at that time. By doing so, it can be acquired automatically. Further, the position and shape of the field F are based on a polygon obtained by the operator operating the operation terminal 20 and designating a plurality of points on the map while the map is displayed on the operation terminal 20. You can also get it. The region specified by the acquired position and shape of the field F is a region (traveling region) in which the work vehicle 10 can travel.

The work setting processing unit 213 sets information (hereinafter, referred to as work information) regarding how the work is specifically performed. As work information, the work setting processing unit 213 skips, which is the presence or absence of cooperative work between the work vehicle 10 (unmanned tractor) and the manned work vehicle 10, and the number of work routes to be skipped when the work vehicle 10 turns on the headland. The number, the width of the headland, the width of the non-cultivated land, etc. can be set.

The route generation processing unit 214 generates a travel route R, which is a route for automatically traveling the work vehicle 10, based on the setting information. The travel route R is, for example, a work route from the work start position S to the work end position G (see FIG. 3). The travel route R shown in FIG. 3 is a route for reciprocating the work vehicle 10 in parallel in the work area of the field F. The route generation processing unit 214 generates and stores the travel route R of the work vehicle 10 based on the setting information set by the vehicle setting processing unit 211, the field setting processing unit 212, and the work setting processing unit 213. Can be done.

Specifically, the route generation processing unit 214 generates a travel route R (see FIG. 3) based on the work start position S and the work end position G registered in the field setting. The travel route R is not limited to the route shown in FIG.

The operation control unit 21 stores the work vehicle information D1 (see FIG. 5), the travel route information D2 (see FIG. 6), and the travelability information D3 (see FIG. 7) in the storage unit 22. Specifically, the operation control unit 21 has the work vehicle information D1 and the travel route information D2 based on the setting information set by the vehicle setting processing unit 211, the field setting processing unit 212, and the work setting processing unit 213. And the travelability information D3 is stored in the storage unit 22.

The route acquisition processing unit 215 acquires the travel route R of the work vehicle 10. Specifically, the operator is generated by the route generation processing unit 214 on the route selection screen P1 (see FIG. 8A and the like) displayed on the operation terminal 20 when the work by the work vehicle 10 is started in the predetermined field F. A desired travel route R is selected from the route list A1 including the plurality of travel routes R. The route acquisition processing unit 215 acquires a route selected by the operator (hereinafter, referred to as a selected route). FIG. 8A shows a state in which the selection route of “Route 001” is selected for the No. 1 field by the operator. Further, FIG. 8B shows a state in which the selection route of “Route 002” is selected for the No. 1 field by the operator. When the detail button of the travel route is pressed in the route list A1, the detailed information of the travel route is displayed. The route acquisition processing unit 215 is an example of the route acquisition processing unit of the present invention.

The determination processing unit 216 includes a travel route (corresponding to the first travel route of the present invention) in a direction different from the direction of the detection area K0 of the obstacle sensor 18 in the selection route acquired by the route acquisition processing unit 215. Judge whether or not. For example, when the work vehicle 10 performing the work is the work vehicle T4 (see FIG. 5) having the obstacle sensor 18 only in the front portion, the selected route acquired by the route acquisition processing unit 215 is the route name “R1”. (See FIG. 6), the determination processing unit 216 determines that a rear travel route (reverse route) different from the direction (forward) of the detection area K0 of the obstacle sensor 18 is included. The reverse route is an example of the first traveling route of the present invention.

Further, for example, when the work vehicle 10 performing the work is the work vehicle T4 (see FIG. 5) having the obstacle sensor 18 only in the front portion, the selected route acquired by the route acquisition processing unit 215 is the route name ". In the case of the traveling route of "R2" (see FIG. 6), the determination processing unit 216 determines that an inner traveling route (inner loop route) different from the direction (forward) of the detection area K0 of the obstacle sensor 18 is included. .. The inner loop route is an example of the first traveling route of the present invention.

The notification processing unit 217 automatically travels the work vehicle 10 when the selection route acquired by the route acquisition processing unit 215 includes a travel route in a direction different from the direction of the detection area K0 of the obstacle sensor 18. Notify the inquiry as to whether or not to start. For example, as shown in FIG. 8A, when the operator selects the route "001" (corresponding to the route name "R1") and presses the route determination button B1 in the work by the work vehicle T4 (see FIG. 5), the selection route is described. Including a traveling route (reverse route) in a direction different from the direction (forward) of the detection area K0, the notification processing unit 217 causes the operation terminal 20 to display the inquiry shown in FIG. 9A. The notification processing unit 217 is an example of the notification processing unit of the present invention.

For example, the notification processing unit 217 causes the operation terminal 20 to display a work start instruction for starting automatic traveling of the selected route or a selection screen P2 capable of selecting a route change instruction for changing the selected route. In addition, the notification processing unit 217 displays warning information on the selection screen P2 that calls attention when the automatic traveling of the selected route is started. For example, the notification processing unit 217 starts automatic driving in a state where the rear obstacle sensor 18 necessary for traveling on the reverse route is not installed on the selection screen P2 and the rear obstacle sensor 18 is not installed. In that case, the user monitors and secures safety, permits automatic driving in a state where the obstacle sensor 18 at the rear is not installed, and displays a warning message M1 including disclaimers. Further, the notification processing unit 217 has a work start button B2 that gives an instruction (work start instruction) to start automatic driving on the selection screen P2 in this state (a state in which the obstacle sensor 18 at the rear is not installed). The change button B3 that gives an instruction to change the setting of the selected route (route change instruction) is displayed.

For example, as shown in FIG. 8B, when the operator selects the route "002" (corresponding to the route name "R2") and presses the route determination button B1 in the work by the work vehicle T4 (see FIG. 5). Since the selected route includes a traveling route (inner loop route) in a direction different from the direction (forward) of the detection area K0, the notification processing unit 217 causes the operation terminal 20 to display the selection screen P2 shown in FIG. 9B.

When the operator presses the change button B3 on the selection screen P2, the notification processing unit 217 causes the operation terminal 20 to display the route selection screen P1 (see FIGS. 8A and 8B) again. The operator can change the selected route on the route selection screen P1.

As another embodiment, the notification processing unit 217 may present a traveling route that does not include the reverse route when the change button B3 is selected (route change instruction) by the operator on the route selection screen P1 shown in FIG. 8A. good. Further, the notification processing unit 217 may present a traveling route that does not include the inner loop route when the change button B3 is selected (route change instruction) by the operator on the route selection screen P1 shown in FIG. 8B. That is, when the route change instruction is selected, the notification processing unit 217 does not include a travel route (first travel route of the present invention) in a direction different from the direction of the detection area K0 of the obstacle sensor 18. To present. This makes it possible to prevent a traveling route including a traveling route (for example, a reverse route, an inner loop route) in a direction different from the direction of the detection area K0 of the obstacle sensor 18 from being selected as the selection route.

When the operator presses the work start button B2 on the selection screen P2, the output processing unit 218 outputs the information of the selection route to the work vehicle 10.

In the work vehicle 10, the data of the travel route R (selection route) generated in the operation terminal 20 is transferred to the work vehicle 10 and stored in the storage unit 12, and the current position of the work vehicle 10 is determined by the positioning antenna 174. It is configured to be able to travel autonomously along the travel path R while detecting. The current position of the work vehicle 10 usually coincides with the position of the positioning antenna 174.

The work vehicle 10 is configured to be able to automatically travel when the current position is located inside the field F, and cannot automatically travel when the current position is located outside the field F (public road, etc.). It is configured in. Further, the work vehicle 10 is configured to be able to automatically travel, for example, when the current position coincides with the work start position S.

When the current position of the work vehicle 10 coincides with the work start position S and the operator presses the work start button on the operation screen to give a work start instruction, the traveling processing unit 113 starts automatic traveling. Then, the work by the working machine 14 (see FIG. 2) is started. That is, the operation control unit 21 permits the automatic traveling of the work vehicle 10 on condition that the current position coincides with the work start position S. The conditions for permitting the automatic traveling of the work vehicle 10 are not limited to the above conditions.

The travel processing unit 113 of the work vehicle 10 automatically travels the work vehicle 10 from the work start position S to the work end position G based on the travel route R (selection route) acquired from the operation terminal 20. Further, when the work vehicle 10 finishes the work, the travel processing unit 113 may automatically travel from the work end position G to the entrance of the field F. When the work vehicle 10 is automatically traveling, the operation control unit 21 can receive the state (position, traveling speed, etc.) of the work vehicle 10 from the work vehicle 10 and display it on the operation display unit 23.

As another embodiment, the operation control unit 21 is provided with a monitoring unit (camera, sensor, etc.) capable of monitoring a predetermined area in a direction different from the direction of the detection area K0 of the obstacle sensor 18 in the work vehicle 10. In some cases, it may be possible to select a work start instruction for automatic traveling. For example, in the notification processing unit 217, when a camera 15 (an example of the monitoring unit of the present invention) including a direction different from the direction of the detection area K0 of the obstacle sensor 18 in the image pickup area is installed in the work vehicle 10. It is possible to select the work start instruction for automatic driving. For example, in the notification processing unit 217, when the detection area K0 of the obstacle sensor 18 is in front of the work vehicle 10 and the selected path includes the reverse path, the camera 15B set in the image pickup area K2 works behind. When installed in the vehicle 10, the notification processing unit 217 displays the work start button B2 on the selection screen P2. On the other hand, when the camera 15B is not installed in the work vehicle 10, the notification processing unit 217 does not display the work start button B2 on the selection screen P2. As described above, the operation control unit 21 may be configured to allow traveling in the direction of the predetermined area when the predetermined area can be monitored by at least one of the obstacle sensor 18 and the camera 15.

The display processing unit 219 causes the operation terminal 20 to display the captured image captured by the camera 15 while the work vehicle 10 is automatically traveling. Specifically, as shown in FIG. 10A, the display processing unit 219 displays a camera image display column C1 for displaying the captured image of each camera 15 on the traveling state screen P3 displaying the automatic traveling state of the work vehicle 10. Display it. The current state of the work vehicle 10 being automatically driven is displayed in real time on the running state screen P3. The operator can grasp the current running state and working state of the work vehicle 10 on the running state screen P3.

The display processing unit 219 causes the camera image display field C1 to display each image display field L1 according to a preset layout. FIG. 10A shows an example of the traveling state screen P3 in which the captured image is displayed in each image display column L1. The captured image displayed in each image display field L1 is updated in real time. The numbers "1" to "5" in each image display column L1 are the cameras 15F (camera 1), 15B (camera 2), 15R (camera 3), 15L (camera 4), and 15C (camera 5) shown in FIG. 4B. Corresponds to. In FIG. 10A and the like, a display example of an actual captured image is omitted.

Further, the display processing unit 219 emphasizes and displays the image captured by the camera 15 including the direction different from the direction of the detection area K0 of the obstacle sensor 18 in the imaging area on the traveling state screen P3. For example, as shown in FIG. 10B, when the detection area K0 of the obstacle sensor 18 is in front of the work vehicle 10 and the selection path includes the reverse path, the display processing unit 219 includes the rear side in the image pickup area K2. The image captured by the camera 15B (camera 2) is enlarged and displayed. The display processing unit 219 may display, light, or blink the image display field L1 corresponding to the camera 15B (camera 2) in color. Further, the display processing unit 219 may display only the image display field L1 corresponding to the camera 15B (camera 2) in the camera image display field C1 and hide the image display field L1 corresponding to the other camera 15. good. The display processing unit 219 is an example of the display processing unit of the present invention.

For example, when the detection area K0 of the obstacle sensor 18 is in front of the work vehicle 10 and the selected route includes an inward route, as shown in FIG. 10C, the display processing unit 219 has an image pickup area on the right side. The image captured by the camera 15R (camera 3) included in K3 and the image captured by the camera 15C (camera 5) including the front of the working machine 14 in the imaging area K5 are enlarged and displayed. As a result, when the work vehicle 10 travels in a direction different from the direction of the detection area K0 of the obstacle sensor 18, the operator can monitor the direction by the image captured by the camera 15 that has captured the direction.

As another embodiment, the detection processing unit 112 of the work vehicle 10 may detect an obstacle based on an image captured by the camera 15 that captures a direction different from the direction of the detection area K0 of the obstacle sensor 18. For example, the detection processing unit 112 analyzes the captured image to detect a specific obstacle such as a person or an object. Further, the traveling processing unit 113 may stop the automatic traveling of the work vehicle 10 when the detection processing unit 112 detects an obstacle based on the captured image.

The operation terminal 20 may be able to access the website (agricultural support site) of the agricultural support service provided by the server (not shown) via the communication network N1. In this case, the operation terminal 20 can function as an operation terminal of the server by executing the browser program by the operation control unit 21. Then, the server includes each of the above-mentioned processing units and executes each process.

As another embodiment, each function of the vehicle control device 11 and the detection processing device 19 described above may be included in the operation control unit 21 of the operation terminal 20. That is, for example, the operation control unit 21 may acquire measurement information from each obstacle sensor 18 of the work vehicle 10 and execute a process of detecting an obstacle. Further, each function of the detection processing device 19 (acquisition processing unit 111 and detection processing unit 112) may be included in the vehicle control device 11.

[Automatic driving processing]
Hereinafter, an example of the automatic driving process executed by the vehicle control device 11, the detection processing device 19, and the operation control unit 21 will be described with reference to FIG. 11. For example, the automatic traveling process is started by the vehicle control device 11, the detection processing device 19, and the operation control unit 21 when the operator starts the operation of setting the travel path of the work vehicle 10.

The present invention is an invention of an automatic driving method in which the vehicle control device 11, the detection processing device 19, and the operation control unit 21 execute a part or all of the automatic driving process, or a part of the automatic driving method, or a part of the automatic driving method. The whole may be regarded as an invention of an automatic driving program for causing the vehicle control device 11 and the operation control unit 21 to execute the whole process. Further, the automatic traveling process may be executed by one or a plurality of processors.

In step S1, the operation control unit 21 causes the operation terminal 20 to display the route selection screen P1 (see FIG. 8A and the like).

Next, in step S2, the operation control unit 21 acquires a selection route selected by the operator from the route list A1 including the plurality of travel routes R generated by the route generation process on the route selection screen P1.

Next, in step S3, the operation control unit 21 determines whether or not the acquired selected route includes a traveling route in a direction different from the direction of the detection area K0 of the obstacle sensor 18.

For example, when the work vehicle 10 performing the work is the work vehicle T4 (see FIGS. 4A and 5) having the obstacle sensor 18 only in the front portion, the operation control unit 21 has acquired the selected route as the route name. In the case of the traveling route of "R1" (see FIG. 6), it is determined that the traveling route (reverse route) different from the direction (forward) of the detection area K0 of the obstacle sensor 18 is included.

Further, for example, when the work vehicle 10 performing the work is the work vehicle T4 (see FIGS. 4A and 5) having the obstacle sensor 18 only in the front portion, the operation control unit 21 uses the acquired selection route as the route. In the case of the traveling route (see FIG. 6) of the name "R2", it is determined that the traveling route (inner loop route) different from the direction (forward) of the detection area K0 of the obstacle sensor 18 is included.

When the selected route includes a traveling route in a direction different from the direction of the detection area K0 of the obstacle sensor 18 (S3: Yes), the process proceeds to step S4. On the other hand, when the selected route does not include a traveling route in a direction different from the direction of the detection area K0 of the obstacle sensor 18 (S3: No), the process proceeds to step S6.

In step S4, the operation control unit 21 notifies an inquiry as to whether or not to start the automatic traveling of the work vehicle 10. For example, as shown in FIG. 8A, when the operator selects the route “001” (corresponding to the route name “R1”) and presses the route determination button B1 in the work by the work vehicle T4 (see FIG. 5), the operation control is performed. The unit 21 causes the operation terminal 20 to display the selection screen P2 shown in FIG. 9A. Further, for example, as shown in FIG. 8B, when the operator selects the route "002" (corresponding to the route name "R2") and presses the route determination button B1 in the work by the work vehicle T4 (see FIG. 5), the operation is performed. The control unit 21 causes the operation terminal 20 to display the selection screen P2 shown in FIG. 9B.

Further, the operation control unit 21 gives an instruction (work start instruction) to start automatic driving on the selection screen P2 with the warning message M1 and the state as it is (the state where the obstacle sensor 18 at the rear is not installed). The start button B2 and the change button B3 for changing the setting of the selected route (route change instruction) are displayed.

Next, in step S5, the operation control unit 21 determines whether or not the work start instruction has been accepted. When the operator presses the work start button B2 on the selection screen P2 (see FIGS. 9A and 9B) and the operation control unit 21 receives the work start instruction (S5: Yes), the process proceeds to step S6. When the operation control unit 21 does not accept the work start instruction (S5: No), the process proceeds to step S51.

In step S51, the operation control unit 21 determines whether or not the route change instruction has been accepted. When the operator presses the change button B3 on the selection screen P2 (see FIGS. 9A and 9B) and the operation control unit 21 receives the route change instruction (S51: Yes), the process returns to step S1. If the operation control unit 21 does not accept the route change instruction (S51: No), the process returns to step S5.

In step S6, the vehicle control device 11 starts the automatic traveling of the work vehicle 10. Specifically, when the operation control unit 21 outputs the information of the selected route to the work vehicle 10, the vehicle control device 11 acquires the selected route and starts automatic traveling along the selected route.

Next, in step S7, the operation control unit 21 emphasizes and displays the image captured by the camera 15 including the direction different from the direction of the detection area K0 of the obstacle sensor 18 in the imaging area on the traveling state screen P3. For example, as shown in FIG. 10B, when the detection area K0 of the obstacle sensor 18 is in front of the work vehicle 10 and the selected path includes the reverse path, the operation control unit 21 includes the rear side in the image pickup area K2. The image captured by the camera 15B (camera 2) is enlarged and displayed.

Next, in step S8, the detection processing device 19 determines whether or not an obstacle has been detected. Specifically, the detection processing device 19 determines whether or not an obstacle is included in the detection area K0 based on the measurement information of the obstacle sensor 18. When the detection processing device 19 detects an obstacle (S8: Yes), the processing proceeds to step S9. On the other hand, when the detection processing device 19 does not detect an obstacle (S8: No), the processing proceeds to step S10.

In step S9, the vehicle control device 11 stops the automatic traveling of the work vehicle 10. After that, when the obstacle is removed, the vehicle control device 11 restarts the automatic driving based on, for example, an operator's instruction.

Next, in step S10, the vehicle control device 11 determines whether or not the work vehicle 10 has completed the work. When the work vehicle 10 finishes the work (S10: Yes), the process ends. On the other hand, when the work vehicle 10 has not completed the work (S10: No), the process returns to step S7. As described above, when the detection processing device 19 does not detect an obstacle, the detection processing device 19 runs and works while monitoring by the obstacle sensor 18 and the camera 15 until the predetermined work is completed. The vehicle control device 11, the detection processing device 19, and the operation control unit 21 execute the automatic driving process as described above.

As described above, the automatic traveling system 1 according to the present embodiment acquires the traveling route (selection route) of the work vehicle 10, is installed in the work vehicle 10 on the selection route, and has an obstacle around the work vehicle 10. When a traveling path in a direction different from the direction of the detection area K0 of the obstacle sensor 18 for detecting an object is included, an inquiry as to whether or not to start the automatic traveling of the work vehicle 10 is notified. As described above, when the selected route includes a traveling route in a direction different from the direction of the detection area K0 of the obstacle sensor 18, the automatic traveling system 1 includes a warning message M1 on the selection screen P2 (FIG. 9A, FIG. 9B) is displayed on the operation terminal 20 to alert the operator, thereby ensuring the safety of the work vehicle 10. The operator can start the automatic running of the work vehicle 10 by monitoring the area that cannot be detected by the obstacle sensor 18. Further, the automatic traveling system 1 can ensure safety by capturing an area that cannot be detected by the obstacle sensor 18 with the camera 15 and displaying the captured image on the operation terminal 20. Therefore, since it is not necessary to install the obstacle sensor 18 in all directions of the work vehicle 10, it is possible to prevent an increase in cost while ensuring the safety of the work vehicle 10.

The present invention is not limited to the above-described embodiment, and may be the following embodiments.

In the above-described embodiment, the notification processing unit 217 notifies an inquiry as to whether or not to start the automatic traveling of the work vehicle 10 at the time when the automatic traveling of the work vehicle 10 is started. Specifically, the notification processing unit 217 can select a work start instruction for starting automatic traveling of the selected route or a route change instruction for changing the selected route at the time when the work start instruction is given to the work vehicle 10. The selection screen P2 is displayed on the operation display unit 23.

As another embodiment of the present invention, the notification processing unit 217 may notify an inquiry as to whether or not to start the automatic traveling of the work vehicle 10 at the time when the travel path of the work vehicle 10 is generated. Specifically, the notification processing unit 217 can select a work start instruction for starting automatic traveling of the selected route or a route change instruction for changing the generated route when the route of the work vehicle 10 is generated. The selection screen P2 may be displayed on the operation display unit 23. As a result, by notifying the inquiry when the route is generated, it is possible to alert the operator before the work start time.

Further, the notification processing unit 217 may notify the inquiry at each of the time when the travel path of the work vehicle 10 is generated and the time when the automatic travel of the work vehicle 10 is started. As a result, even if the work vehicle 10 is different between the time when the traveling route is generated and the time when the automatic traveling is started, the operator is alerted and safety is ensured by notifying the inquiry at both times. can do.

As another embodiment of the present invention, when the selection route is set corresponding to each of the plurality of work vehicles 10, the notification processing unit 217 may notify the inquiry for each selection route. good. The selection route can be set for each of the plurality of work vehicles 10 in one operation terminal 20. In this case, the notification processing unit 217 of the operation terminal 20 can select a work start instruction for starting automatic traveling of the selected route or a route change instruction for changing the selected route for each selected route. P2 is displayed on the operation display unit 23. Thereby, it is possible to set whether or not the automatic traveling of the selected route is possible for each work vehicle 10. Therefore, the safety of the plurality of work vehicles 10 can be ensured.

Further, as another embodiment of the present invention, the operation control unit 21 may present the operator a work vehicle 10 suitable for the selection route among the plurality of work vehicles 10. For example, when the operator owns a plurality of work vehicles 10 and each work vehicle 10 has an obstacle sensor 18 at a different position, when the operator selects a field and a travel route, the operation control unit 21 determines the travel route. A work vehicle 10 having an obstacle sensor 18 whose direction is included in the detection area K0 is extracted and presented to the operator. As a result, the work can be performed by the work vehicle 10 that does not generate a blind spot in the traveling path. The operation control unit 21 can determine the optimum work vehicle 10 for the travel route (selection route) by referring to the work vehicle information D1, the travel route information D2, and the travel availability information D.

Further, as another embodiment of the present invention, the operation control unit 21 may present to the operator a travel route suitable for the work vehicle 10 among a plurality of travel routes. For example, when the operator sets a plurality of travel routes and the operator selects the field, the work vehicle 10, and the work machine 14, the operation control unit 21 extracts the travel routes that can be traveled by the work vehicle 10. , Present to the operator. As a result, the work vehicle 10 can travel on a travel route that does not generate a blind spot. The operation control unit 21 can determine the optimum travel route (selection route) for the work vehicle 10 by referring to the work vehicle information D1, the travel route information D2, and the travel availability information D.

1: Automatic driving system 10: Working vehicle 11: Vehicle control device 13: Traveling device 14: Working machine 15: Camera (monitoring unit)
17: Positioning device 18: Obstacle sensor (detection unit)
19: Detection processing device 20: Operation terminal 21: Operation control unit 23: Operation display unit 111: Acquisition processing unit 112: Detection processing unit 113: Travel processing unit 211: Vehicle setting processing unit 212: Field setting processing unit 213: Work setting Processing unit 214: Route generation processing unit 215: Route acquisition processing unit 216: Judgment processing unit 217: Notification processing unit 218: Output processing unit 219: Display processing unit

Claims (10)

A route acquisition processing unit that acquires the travel route of the work vehicle,
The travel route acquired by the route acquisition processing unit includes a first travel route installed in the work vehicle and in a direction different from the direction of the detection area of the detection unit that detects obstacles around the work vehicle. In that case, a notification processing unit that notifies an inquiry as to whether or not to start automatic traveling of the work vehicle, and
An automatic driving system equipped with. The notification processing unit displays a selection screen on which a work start instruction for starting the automatic traveling of the traveling route or a route changing instruction for changing the traveling route can be selected.
The automated driving system according to claim 1. The notification processing unit further displays warning information on the selection screen that calls attention when starting the automatic driving of the traveling route.
The automated driving system according to claim 2. When the route change instruction is selected, the notification processing unit presents a travel route that does not include the first travel route.
The automated driving system according to claim 2 or 3. When a monitoring unit capable of monitoring a predetermined area in the direction of the first traveling route is installed in the work vehicle, the work start instruction can be selected.
The automated driving system according to any one of claims 2 to 4. The monitoring unit is an imaging unit that captures an image of the predetermined area.
A display processing unit for highlighting and displaying an image captured by the imaging unit is further provided.
The automated driving system according to claim 5. When the travel route is set corresponding to each of the plurality of work vehicles,
The notification processing unit notifies the inquiry when the first travel route is included for each travel route.
The automated driving system according to any one of claims 1 to 6. The notification processing unit notifies the inquiry at each of the time when the traveling route is generated and the time when the automatic traveling is started.
The automated driving system according to any one of claims 1 to 7. One or more processors
Acquiring the travel route of the work vehicle and
When the traveling path includes a first traveling path that is installed in the working vehicle and has a direction different from the direction of the detection area of the detection unit that detects obstacles around the working vehicle, the working vehicle is automatically automatic. Notifying you of an inquiry as to whether or not to start driving,
Autonomous driving method to execute. Acquiring the travel route of the work vehicle and
When the traveling path includes a first traveling path that is installed in the working vehicle and has a direction different from the direction of the detection area of the detection unit that detects obstacles around the working vehicle, the working vehicle is automatically automatic. Notifying you of an inquiry as to whether or not to start driving,
An automated driving program for running one or more processors.

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